WO2003086717A1 - Hybrid parallel manipulator for moving a workhead in space - Google Patents
Hybrid parallel manipulator for moving a workhead in space Download PDFInfo
- Publication number
- WO2003086717A1 WO2003086717A1 PCT/DE2003/001019 DE0301019W WO03086717A1 WO 2003086717 A1 WO2003086717 A1 WO 2003086717A1 DE 0301019 W DE0301019 W DE 0301019W WO 03086717 A1 WO03086717 A1 WO 03086717A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- working head
- rods
- workhead
- platform
- axis
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
- B23Q1/012—Portals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Definitions
- This international search report comprises a total of _4 sheets.
- the invention relates to a device for moving a working head in space according to the preamble of claim 1.
- the end of a column is moved in space by means of three orthogonal tracks.
- a hinge is usually arranged at its end, the axis of which is parallel to the column.
- a fork head joint adjoins this swivel joint, the axis of rotation of which is perpendicular to the axis of rotation of the swivel joint.
- the working head in question is finally arranged on this fork head.
- the working head can thus be moved Cartesian in space and still be oriented in space, although the swivel angle of the clevis joint is often limited to approximately 180 °.
- the working head therefore has 5 degrees of freedom, three transitory and two rotary.
- the degrees of freedom are completely decoupled from one another, which makes the control of the device relatively simple.
- devices of this type have the further advantage that almost any volume can be spanned, so that even very large workpieces can be processed. This is possible in particular if the corresponding device is constructed in the manner of a portal robot.
- the Z-pillar also blocks direct access to the working head. This can be very cumbersome in numerous applications, e.g. when a laser beam is to be fed to the working head, which is then directed onto the workpiece via a mirror system, or when a high-pressure line, for example for supplying paint, plastic or water, is to be connected to the working head.
- multipodes in particular hexapods
- 6 bars are pivotally and slidably arranged on a basic element.
- the ends of these rods are in turn movably connected to a common fastening element, which in turn carries the working head.
- a hexapod is described, for example, in DE 196 49 082 C1. - 3 -
- hexapods are more difficult to master in terms of control technology, they have the advantage of very high mechanical stability with low mass. Furthermore, the working head moved by the Hexapod is usually very easy to reach on the direct center line.
- a major disadvantage of multipods for many applications is that the volume that can be achieved with them is relatively small, which means that they cannot be used to machine large workpieces.
- DE 43 06 332 A1 describes a device which is used to change measuring and / or test probes.
- This device has a turntable in which a drive unit is pivotably arranged via two telescopic legs. The turntable can be moved in a longitudinal direction.
- a spherical hexapod is known from DE 196 40 769 A1.
- u. a. proposed to provide this multipod with a further linear or rotary degree of freedom.
- Another object of the invention is to reduce the mass to be accelerated without losing mechanical stability. This object is achieved with a device having the features of claim 1.
- the device according to the invention has a platform which is arranged to be 2-dimensionally movable in a first plane. This is usually the horizontal X-Y plane. This can be done in the manner of a portal robot, so that the area that can be painted over can be chosen practically as large as desired.
- This platform carries a rotating element which can be rotated about an axis of rotation, to which in turn a multipod is fastened, which in turn carries a working head or a mounting device for a working head.
- This multipod is responsible for moving the measuring head in the third spatial direction, usually the Z direction, and for pivoting it at least along one axis.
- the movement of the platform can be carried out with the help of a portal robot, the plane of movement of the platform preferably being a horizontal plane.
- Claims 3-5 give a particularly preferred embodiment in which the multipod is kinematically a dipod, but is constructed as a tripod for reasons of statics.
- a first rod is at a fixed angle to the rotating element, preferably at a right angle. In relation to the rotating element, this first rod can therefore only perform a pure axial movement.
- the other two rods are arranged symmetrically and ensure the tilting of the working head or its mounting device along an axis which is preferably perpendicular to the axis of rotation of the rotating element.
- the direction of the first linear movement (Y direction), the direction of the second linear movement (x direction) and the axis of rotation of the rotary element are each orthogonal to one another.
- the first track projects laterally beyond the second track, which makes it possible to make the entire work area, which is spanned between the second tracks, accessible.
- FIG. 1 shows a perspective basic illustration of the device according to the invention
- FIG. 2 shows the partial view T from FIG. 1,
- FIG. 3 shows a basic illustration of the mounting of the first rod in the rotating element in cross section
- FIG. 4 shows a basic illustration of the mounting of a second rod in the rotating element in cross section
- FIG. 5 shows an enlarged partial view from FIG. 1.
- Figure 1 shows a simplified representation of a preferred embodiment of the invention.
- a rotary element in the form of a turntable 40 is horizontally displaceably mounted on a first raceway 10 (Y direction). through - 6 -
- the first raceway 10 is displaceably mounted on the two second raceways 20 in a second direction (X direction), the two running directions being vertical to one another.
- This structure corresponds to that of a portal robot known in the art and it is achieved in that the platform 30 can be moved in the horizontal X-Y plane.
- the corresponding electric motors that are necessary to carry out the movements are not shown in FIG. 1.
- a turntable 40 which is rotatable by means of an electric motor (not shown) and whose axis of rotation is perpendicular to the two directions of movement shown above is mounted in the platform 30.
- FIG. 3 the storage of the vertical rod 52 in the turntable 40 is shown schematically in a cross section.
- a first bearing sleeve 42 is rigidly installed in the turntable 40.
- the axis of this bearing sleeve extends parallel to the axis of rotation of the turntable 40.
- the vertical rod 52 is displaceably arranged in this first bearing sleeve 42 so that it can carry out a movement in the Z direction.
- the vertical rod 52 can be activated, for example, by means of an electric motor M, which engages with a toothing Z in a toothing 52a of the vertical rod 52.
- FIG. 4 shows the mounting of the inclined rods 54, 55 in the turntable 40.
- These bearings are each constructed identically, since the two inclined rods 54, 55 are also arranged symmetrically with respect to the vertical rod 52 and are also operated synchronously.
- the two inclined rods 54, 55 are also each supported by means of a sleeve (second sleeve 44), the respective inclined rod being able to perform an axial movement with respect to this second bearing sleeve 44.
- the second bearing sleeve 44 is not rigidly connected to the turntable 40, but is gimbally connected to the turntable 40 via a swivel plate 45.
- the universal joint itself is not shown in Figure 4.
- This cardanic suspension allows the inclined rods 54, 55 to be pivoted in any direction with respect to the turntable 40.
- the diagonal bars are also driven here in each case by an electric motor M which is arranged in such a way that it follows the tilting movements of the diagonal bars.
- the need for the gimbal mounting of the oblique rods 54, 55 can be seen when looking at FIG. 2:
- the vertical rod 52 is connected to the L-shaped connecting bracket 64 of the mounting device 60 via a first joint 66.
- the pivot axis of this first swivel joint 66 lies in the horizontal plane.
- the Z position of the mounting device 60 is changed by the axial displacements of the vertical rod 52.
- the two inclined rods 54, 55 must follow this movement, which of course changes their angle with respect to the turntable 40. To compensate for this, the gimbals mentioned above are necessary.
- the two inclined rods 54, 55 are connected to the connecting bracket 64 via second joints 67. These second joints 67 must not have rigid axes and can be designed, for example, in the form of ball joints.
- the assembly device 60 is pivoted in a vertical plane by a synchronous displacement of the two inclined rods 54, 55. Overall, the required 5 degrees of freedom are achieved. With suitable di - 8th -
- a swivel range of significantly more than 180 ° can be achieved.
- the 3-leg coupling of the assembly device 60, on the assembly section 62 of which any work head, for example a milling head, a spray head, a laser processing head, a water cutting head, etc. can be coupled has the following advantages in particular:
- the central axis that extends from the turntable 40 to the working head is kept clear. This is very helpful if, for example, a laser beam or liquid must be supplied to the working head under high pressure by means of a pressure pipe.
- a pressure pipe it would also be conceivable, for example, to provide a central opening in a specially shaped mounting device through which the desired medium can be fed directly to the working head and only needs to be deflected in one swivel plane.
- the arrangement proposed here is very stable against lateral forces at a low weight, so that only relatively small masses have to be accelerated without loss of precision, which means that the corresponding servomotors can be dimensioned small and a high working speed is made possible.
- the arrangement of one of the rods at a fixed angle, preferably the right angle, with respect to the turntable 40 has two advantages in particular. On the one hand, a collision of one of the rods with the workpiece to be machined can thus be reliably prevented. If all three rods were gimbaled, which is also possible, and can also bring advantages in certain applications, namely when a sixth degree of freedom is required, the head should always be moved 9
- the regulation is also simpler overall, since a displacement of the vertical rod corresponds exactly to the z-movement of the working head.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE20320809U DE20320809U1 (en) | 2002-04-13 | 2003-03-27 | Device for moving a working head in space |
AU2003232586A AU2003232586A1 (en) | 2002-04-13 | 2003-03-27 | Hybrid parallel manipulator for moving a workhead in space |
DE10391447T DE10391447B4 (en) | 2002-04-13 | 2003-03-27 | Hybrid parallel manipulator for moving a working head in space |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2002116571 DE10216571A1 (en) | 2002-04-13 | 2002-04-13 | Device for moving a working head in space |
DE10216571.8 | 2002-04-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003086717A1 true WO2003086717A1 (en) | 2003-10-23 |
Family
ID=28685062
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2003/001019 WO2003086717A1 (en) | 2002-04-13 | 2003-03-27 | Hybrid parallel manipulator for moving a workhead in space |
Country Status (3)
Country | Link |
---|---|
AU (1) | AU2003232586A1 (en) |
DE (3) | DE10216571A1 (en) |
WO (1) | WO2003086717A1 (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007131686A1 (en) * | 2006-05-11 | 2007-11-22 | Eew Maschinenbau Gmbh | Supporting structure for a machining unit |
US7574925B2 (en) | 2006-11-02 | 2009-08-18 | University Of Southern California | Metering and pumping devices |
US7641461B2 (en) | 2003-01-21 | 2010-01-05 | University Of Southern California | Robotic systems for automated construction |
US7841851B2 (en) | 2005-11-04 | 2010-11-30 | University Of Southern California | Material delivery system using decoupling accumulator |
US8029710B2 (en) | 2006-11-03 | 2011-10-04 | University Of Southern California | Gantry robotics system and related material transport for contour crafting |
CN102642204A (en) * | 2012-03-27 | 2012-08-22 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
US8308470B2 (en) | 2005-11-04 | 2012-11-13 | University Of Southern California | Extrusion of cementitious material with different curing rates |
WO2013160392A1 (en) * | 2012-04-25 | 2013-10-31 | Messer Cutting Systems Gmbh | Device for the multiaxial orientation and/or positioning of a tool, and tool suitable therefor |
EP2740563A1 (en) | 2012-12-05 | 2014-06-11 | TRUMPF Werkzeugmaschinen GmbH & Co. KG | Processing device, processing machine and method for moving a machining head |
CN104128922A (en) * | 2013-05-02 | 2014-11-05 | 克朗斯股份公司 | Device for handling articles |
US8992679B2 (en) | 2003-01-21 | 2015-03-31 | University Of Southern California | Cementitious material, dry construction pellets comprising uncured cement powder and binder, and method of making thereof |
JP2015188945A (en) * | 2014-03-27 | 2015-11-02 | Ntn株式会社 | Coating applicator |
WO2016021099A1 (en) * | 2014-08-06 | 2016-02-11 | ソニー株式会社 | Parallel link robot and parallel link structure |
US20180185102A1 (en) * | 2014-06-30 | 2018-07-05 | Sung-Mok Kim | Parallel-type micro robot and surgical robot system having the same |
CN112672843A (en) * | 2018-09-28 | 2021-04-16 | 株式会社牧野铣床制作所 | Laser processing machine |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008046070A1 (en) * | 2008-09-05 | 2010-03-11 | Klaus Unger | Apparatus for the abrasive machining of large workpieces |
DE102014114401A1 (en) * | 2014-10-02 | 2016-04-21 | Strödter Handhabungstechnik GmbH | Manipulator and manipulator handling system |
DE102016119619B4 (en) * | 2016-10-14 | 2020-06-10 | Marco Systemanalyse Und Entwicklung Gmbh | DOSING ROBOT |
CN110497246B (en) * | 2019-09-18 | 2021-04-30 | 上海理工大学 | Numerical control machining workpiece in-position detection machine based on binocular vision |
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DE19952423A1 (en) * | 1999-10-30 | 2001-05-10 | Hueller Hille Gmbh | Processing machine for multi-axis movement of a tool or workpiece |
DE19955520A1 (en) * | 1999-11-18 | 2001-05-31 | Variomatic Gmbh & Co Kg | Processing head for processing of free-form surfaces has carrier connected in movable fashion with base plate by ball joint or Cardan joint and struts have computer-controlled actuators |
EP1125693A1 (en) * | 2000-02-14 | 2001-08-22 | FESTO AG & Co | Parallel kinematics system |
Family Cites Families (5)
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DE4306332A1 (en) * | 1993-02-24 | 1994-08-25 | Mannesmann Ag | Device for changing measuring and / or sample probes |
DE19640769A1 (en) * | 1996-01-03 | 1997-07-10 | Heisel Uwe Prof Dr Ing Dr H C | Device with at least one movement unit |
DE19609072A1 (en) * | 1996-03-05 | 1997-09-11 | N M T Gmbh I G | Three=dimensional positioning of tool holding plate |
DE19649082C1 (en) * | 1996-11-27 | 1998-01-08 | Fraunhofer Ges Forschung | Remote control unit for implement with holder and two hexapods |
DE19963863B4 (en) * | 1999-12-30 | 2006-01-12 | Tfd Teilefertigung Dresden Gmbh | Machining plant for the machining of free-form surfaces on workpieces of mold, die, fixture and model making |
-
2002
- 2002-04-13 DE DE2002116571 patent/DE10216571A1/en not_active Withdrawn
-
2003
- 2003-03-27 WO PCT/DE2003/001019 patent/WO2003086717A1/en not_active Application Discontinuation
- 2003-03-27 DE DE20320809U patent/DE20320809U1/en not_active Expired - Lifetime
- 2003-03-27 DE DE10391447T patent/DE10391447B4/en not_active Expired - Fee Related
- 2003-03-27 AU AU2003232586A patent/AU2003232586A1/en not_active Abandoned
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DE19952423A1 (en) * | 1999-10-30 | 2001-05-10 | Hueller Hille Gmbh | Processing machine for multi-axis movement of a tool or workpiece |
DE19955520A1 (en) * | 1999-11-18 | 2001-05-31 | Variomatic Gmbh & Co Kg | Processing head for processing of free-form surfaces has carrier connected in movable fashion with base plate by ball joint or Cardan joint and struts have computer-controlled actuators |
EP1125693A1 (en) * | 2000-02-14 | 2001-08-22 | FESTO AG & Co | Parallel kinematics system |
Non-Patent Citations (1)
Title |
---|
T. MAIER, C. WOERNLE (ROSTOCK UNIVERSITÄT): "Inverse Kinematics for an underconstrained cable supsension manipulator", 1998, KLUWER ACADEMIC PUBLISHERS, DORDRECHT, XP002248518 * |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8992679B2 (en) | 2003-01-21 | 2015-03-31 | University Of Southern California | Cementitious material, dry construction pellets comprising uncured cement powder and binder, and method of making thereof |
US7641461B2 (en) | 2003-01-21 | 2010-01-05 | University Of Southern California | Robotic systems for automated construction |
US7837378B2 (en) | 2003-01-21 | 2010-11-23 | University Of Southern California | Mixer-extruder assembly |
US7841851B2 (en) | 2005-11-04 | 2010-11-30 | University Of Southern California | Material delivery system using decoupling accumulator |
US8308470B2 (en) | 2005-11-04 | 2012-11-13 | University Of Southern California | Extrusion of cementitious material with different curing rates |
WO2007131686A1 (en) * | 2006-05-11 | 2007-11-22 | Eew Maschinenbau Gmbh | Supporting structure for a machining unit |
US7574925B2 (en) | 2006-11-02 | 2009-08-18 | University Of Southern California | Metering and pumping devices |
US8029710B2 (en) | 2006-11-03 | 2011-10-04 | University Of Southern California | Gantry robotics system and related material transport for contour crafting |
CN102642204A (en) * | 2012-03-27 | 2012-08-22 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
WO2013160392A1 (en) * | 2012-04-25 | 2013-10-31 | Messer Cutting Systems Gmbh | Device for the multiaxial orientation and/or positioning of a tool, and tool suitable therefor |
EP2740563A1 (en) | 2012-12-05 | 2014-06-11 | TRUMPF Werkzeugmaschinen GmbH & Co. KG | Processing device, processing machine and method for moving a machining head |
CN104128922A (en) * | 2013-05-02 | 2014-11-05 | 克朗斯股份公司 | Device for handling articles |
CN104128922B (en) * | 2013-05-02 | 2016-09-07 | 克朗斯股份公司 | For locating the equipment of placing articles |
JP2015188945A (en) * | 2014-03-27 | 2015-11-02 | Ntn株式会社 | Coating applicator |
US20180185102A1 (en) * | 2014-06-30 | 2018-07-05 | Sung-Mok Kim | Parallel-type micro robot and surgical robot system having the same |
US10517683B2 (en) * | 2014-06-30 | 2019-12-31 | Koh Young Technology Inc. | Parallel-type micro robot and surgical robot system having the same |
WO2016021099A1 (en) * | 2014-08-06 | 2016-02-11 | ソニー株式会社 | Parallel link robot and parallel link structure |
US10427294B2 (en) | 2014-08-06 | 2019-10-01 | Sony Corporation | Parallel link robot and parallel link structure |
CN112672843A (en) * | 2018-09-28 | 2021-04-16 | 株式会社牧野铣床制作所 | Laser processing machine |
EP3858534A4 (en) * | 2018-09-28 | 2022-05-04 | Makino Milling Machine Co., Ltd. | Laser machining apparatus |
CN112672843B (en) * | 2018-09-28 | 2023-02-17 | 株式会社牧野铣床制作所 | Laser processing machine |
Also Published As
Publication number | Publication date |
---|---|
DE10391447D2 (en) | 2005-04-07 |
DE20320809U1 (en) | 2005-05-12 |
AU2003232586A1 (en) | 2003-10-27 |
DE10391447B4 (en) | 2008-03-27 |
DE10216571A1 (en) | 2003-10-30 |
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